{"id":"https://openalex.org/W2136736983","doi":"https://doi.org/10.1109/iros.2004.1389388","title":"Towards 3D mapping in large urban environments","display_name":"Towards 3D mapping in large urban environments","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2136736983","doi":"https://doi.org/10.1109/iros.2004.1389388","mag":"2136736983"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389388","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112785640","display_name":"A. Howard","orcid":"https://orcid.org/0000-0002-6466-7993"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I2800817003","display_name":"California Southern University","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Howard","raw_affiliation_strings":["Robotics Research Laboratory, Computer Science Department, University of Southern California, Los Angeles, USA","Dept. of Comput. Sci., Southern California Univ., Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Laboratory, Computer Science Department, University of Southern California, Los Angeles, USA","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Southern California Univ., Los Angeles, CA, USA","institution_ids":["https://openalex.org/I2800817003"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113788485","display_name":"Denis F. Wolf","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I2800817003","display_name":"California Southern University","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.F. Wolf","raw_affiliation_strings":["Robotics Research Laboratory, Computer Science Department, University of Southern California, Los Angeles, USA","Dept. of Comput. Sci., Southern California Univ., Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Laboratory, Computer Science Department, University of Southern California, Los Angeles, USA","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Southern California Univ., Los Angeles, CA, USA","institution_ids":["https://openalex.org/I2800817003"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077367921","display_name":"Gaurav S. Sukhatme","orcid":"https://orcid.org/0000-0003-2408-474X"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I2800817003","display_name":"California Southern University","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G.S. Sukhatme","raw_affiliation_strings":["Robotics Research Laboratory, Computer Science Department, University of Southern California, Los Angeles, USA","Dept. of Comput. Sci., Southern California Univ., Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Research Laboratory, Computer Science Department, University of Southern California, Los Angeles, USA","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Southern California Univ., Los Angeles, CA, USA","institution_ids":["https://openalex.org/I2800817003"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":36.0187,"has_fulltext":false,"cited_by_count":80,"citation_normalized_percentile":{"value":0.99857075,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"1","issue":null,"first_page":"419","last_page":"424"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/sketch","display_name":"Sketch","score":0.8105915188789368},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6480068564414978},{"id":"https://openalex.org/keywords/3d-city-models","display_name":"3D city models","score":0.617148756980896},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5985386371612549},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.49727609753608704},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4664344787597656},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.43665605783462524},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.43587034940719604},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.42838916182518005},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.38648369908332825},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32386481761932373},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.31544923782348633},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.2853103280067444},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2554285526275635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15678980946540833},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.13511067628860474},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0843779444694519},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.06817930936813354}],"concepts":[{"id":"https://openalex.org/C2779231336","wikidata":"https://www.wikidata.org/wiki/Q7534724","display_name":"Sketch","level":2,"score":0.8105915188789368},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6480068564414978},{"id":"https://openalex.org/C2778597888","wikidata":"https://www.wikidata.org/wiki/Q172169","display_name":"3D city models","level":3,"score":0.617148756980896},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5985386371612549},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.49727609753608704},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4664344787597656},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.43665605783462524},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.43587034940719604},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.42838916182518005},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.38648369908332825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32386481761932373},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.31544923782348633},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.2853103280067444},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2554285526275635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15678980946540833},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.13511067628860474},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0843779444694519},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.06817930936813354}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2004.1389388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389388","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.304.7703","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.304.7703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cres.usc.edu/pubdb_html/files_upload/393.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1551215724","https://openalex.org/W1574722000","https://openalex.org/W1577509784","https://openalex.org/W1586173270","https://openalex.org/W1644054796","https://openalex.org/W1656165940","https://openalex.org/W1819869111","https://openalex.org/W1891947214","https://openalex.org/W1973876344","https://openalex.org/W2085261163","https://openalex.org/W2116516211","https://openalex.org/W2118429180","https://openalex.org/W2129138086","https://openalex.org/W2132631693","https://openalex.org/W2133048394","https://openalex.org/W2159477781","https://openalex.org/W2160584648","https://openalex.org/W2162729570","https://openalex.org/W6632889508","https://openalex.org/W6634982934","https://openalex.org/W6639591334"],"related_works":["https://openalex.org/W2378994405","https://openalex.org/W2385974820","https://openalex.org/W2373478030","https://openalex.org/W2378679551","https://openalex.org/W3149739944","https://openalex.org/W2392363776","https://openalex.org/W2063051341","https://openalex.org/W2591066345","https://openalex.org/W1494563618","https://openalex.org/W4319317934"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"work-in-progress":[3],"aimed":[4],"at":[5],"generating":[6],"dense":[7],"3D":[8,54],"maps":[9,23,39],"of":[10],"urban":[11],"environments":[12],"using":[13,75],"laser":[14],"range":[15],"data":[16],"acquired":[17,68],"from":[18],"a":[19,31,45,52,76],"moving":[20],"platform.":[21],"These":[22],"display":[24],"both":[25],"fine-scale":[26],"detail":[27],"(resolving":[28],"features":[29],"only":[30],"few":[32],"centimeters":[33],"across)":[34],"and":[35,64],"large-scale":[36],"consistency":[37],"(typical":[38],"are":[40],"approximately":[41],"0.5":[42],"km":[43],"on":[44,69],"side).":[46],"In":[47],"this":[48],"paper,":[49],"we":[50],"sketch":[51],"basic":[53],"mapping":[55],"algorithm":[56],"(paying":[57],"particular":[58],"attention":[59],"to":[60],"practical":[61],"engineering":[62],"details)":[63],"present":[65],"preliminary":[66],"results":[67],"the":[70],"USC":[71],"University":[72],"Park":[73],"campus":[74],"Segway":[77],"RMP":[78],"vehicle.":[79]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":7}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}